YASKAWA VIPA IM 053ML Manual page 66

Deployment
MECHATROLINK-III specification > Phases of the communication
Behavior of the input data
Behavior of the output
data
Asynchronous communi-
cation
Synchronous communica-
tion
66
If cycle over occurred, the input data are delayed one transmission cycle.
1 MECHATROLINK-III master
2 MECHATROLINK-III coupler
3 Transmission cycle
4 Application detects input
5 Input from modules
If cycle over occurred, the output data are delayed one transmission cycle.
1 MECHATROLINK-III master
2 MECHATROLINK-III coupler
3 Output value in application is set
4 Transmission cycle
5 Output at module
In asynchronous communication (phase 2), the communication is not influenced by a
cycle over. The transmission cycle can be smaller than the maximum process time.
In synchronous communication (phase 3), with an cycle over a warning is triggered
(A.980) and the phase is changed to phase 2. To avoid this you have to preset the trans-
mission cycle time, which is bigger than the maximum process time.
VIPA System SLIO
HB300 | IM | 053-1ML00 | en | 18-42